DE102017213460B4 - Method and control device for controlling an automated means of transport for passenger transport - Google Patents

Abstract

Method (400) for controlling an automated means of transport (100) for passenger transport, the method (400) comprising the following steps: determining (410) a degree of attention (212) which requires the attention of at least one occupant (108) of the means of transport (100) represented in relation to a traffic situation, using a sensor signal (106) which represents a signal generated by an interior sensor (104) for detecting an interior of the means of transport (100); andSelecting (420) a driving behavior specification, which represents a driving behavior to be observed when transporting the occupant (108) from the means of transport (100), using the degree of attention (212).characterized in that the method comprises a step of comparing the degree of attention (212) with a Includes reference degree, wherein in the step of selecting (420) a driving behavior specification representing defensive driving behavior is selected if the comparison shows that the degree of attention (212) is greater than the reference degree, and/or a driving behavior specification representing normal driving behavior is selected, if the comparison shows that the attention level (212) is less than or equal to the reference level.

Description

State of the art

The invention is based on a device or a method according to the species of the independent claims. The subject matter of the present invention is also a computer program.

Self-driving robo-taxis are known, in which the task of driving is no longer taken over by a driver but by artificial intelligence. Consequently, such vehicles can do without a steering wheel and without pedals, so that all persons on board are to be considered as passengers. For example, the city of Singapore is planning to introduce such robo-taxis in 2019/2020. This should reduce the cost per kilometer driven.

From the pamphlets DE 10 2015 014 139 A1 , DE 10 2015 210 782 A1 , DE 2015 202 820 A1 and DE 10 2011 112 371 A1 Methods are known in which operating parameters can be changed based on the driver's attentiveness.

Disclosure of Invention

Against this background, with the approach presented here, a method for controlling an automated means of transport for passenger transport, a control device that uses this method, and finally a corresponding computer program according to the main claims are presented. Advantageous developments and improvements of the device specified in the independent claim are possible as a result of the measures listed in the dependent claims.

• Bestimmen eines Aufmerksamkeitsgrades, der eine Aufmerksamkeit zumindest eines Insassen des Verkehrsmittels gegenüber einem Verkehrsgeschehen repräsentiert, unter Verwendung zumindest eines Sensorsignals, das ein von zumindest einem Innenraumsensor zum Erfassen eines Innenraums des Verkehrsmittels erzeugtes Signal repräsentiert; und
• Auswählen einer Fahrverhaltensvorgabe, die ein beim Befördern des Insassen vom Verkehrsmittel einzuhaltendes Fahrverhalten repräsentiert, unter Verwendung des Aufmerksamkeitsgrades.

A method for controlling an automated means of transport for passenger transport is presented, the method comprising the following steps:

• Determining a degree of attention, which represents the attention of at least one occupant of the means of transport towards a traffic situation, using at least one sensor signal which represents a signal generated by at least one interior sensor for detecting an interior of the means of transport; and
• Selecting a driving behavior specification, which represents a driving behavior to be observed when transporting the occupant from the means of transport, using the degree of attention.

An automated means of transport can be understood to mean, for example, a highly automated vehicle. The means of transport can be, for example, public means of transport in the form of a one-, two- or multi-seater shuttle vehicle, also referred to as a pod, robo-taxi or robo-shuttle. The means of transport can be equipped, for example, with an interior sensor system for detecting an interior of the means of transport, more precisely for detecting a number and a respective viewing direction of occupants of the means of transport, an environment sensor system for detecting a position of the means of transport relative to objects in its environment, and with sensors for detecting various operating parameters such as such as speed, steering angle, battery voltage or motor current. An interior sensor can be understood, for example, as an interior camera for occupant observation or a seat occupancy sensor for detecting seat occupancy in the means of transport. The level of alertness can represent, for example, a viewing direction, a change in viewing direction, or a frequency of blinking of the occupant. A driving behavior specification can be understood, for example, as a specification in favor of the greatest possible comfort, the greatest possible safety or the shortest possible driving time. For example, the driving behavior specification can be selected by changing various parameters such as a maximum speed or a reaction time of the means of transport when steering or braking interventions.

The approach presented here is based on the knowledge that the driving behavior of a self-driving taxi can be changed based on the observed attention of a passenger towards a traffic situation. Attention can be determined, for example, based on the passenger's gaze behavior relative to the direction of travel. For example, a more defensive driving behavior can be chosen if the passenger is attentive to the traffic situation, for example because he still has little trust in the new technology of a self-driving taxi. Conversely, for example, a normal, traffic flow-optimized driving behavior can be selected if the passenger pays little attention to the traffic behavior, for example because he is talking to another passenger, is working or on the phone. In this way, the driving behavior of the taxi can always be optimally adapted to the individual feelings of the passengers. As a result, the passengers' sense of comfort can be significantly increased.

According to one embodiment, the degree of attentiveness can be compared with a reference degree in a step of comparing the. Accordingly, in the selection step, a driving behavior specification representing defensive driving behavior can be selected if the comparison shows that the degree of attention is greater than the reference degree, or, additionally or alternatively, a driving behavior specification representing normal driving behavior can be selected if the comparison shows that the attention level is less than or equal to the reference level. As a result, a significant increase in comfort can be achieved with relatively little computing effort.

According to a further embodiment, in the step of determining, the degree of attentiveness can be determined by filtering the sensor signal, in particular by low-pass filtering the sensor signal. In this way, inaccuracies in determining the degree of attention can be avoided. For example, it can be ruled out that the detection of fleeting head movements leads to a falsification of the degree of attention.

It is advantageous if in the selection step at least one parameter relating to a safety distance to be maintained by the means of transport or, additionally or alternatively, relating to a reaction time of the means of transport to changes in traffic flow is changed in order to select the driving behavior specification. As a result, the driving behavior can be changed efficiently and precisely by changing just a few parameters.

The method can also include a step of determining a number or an age of the occupant using the sensor signal or, additionally or alternatively, using a user input made by the occupant. In this case, in the selection step, the driving behavior specification can be selected depending on the number or the age of the occupants. This allows the driving behavior to be adapted to the age or the number of occupants.

Furthermore, in the selection step, the driving behavior specification can be selected using destination information that represents a destination to be headed for by the means of transport. Destination information can be understood, for example, as a geographic position of the destination or information about an intention associated with the destination, such as “work” or “celebration”. This embodiment creates a further differentiation option for the attention-dependent change in driving behavior. As a result, driving comfort can be further increased.

According to a further embodiment, in a receiving step, additional information can be received via a communication interface to a further means of transport, an infrastructure facility, a central data processing facility or at least two of the communication partners mentioned. In this case, in the selection step, the driving behavior specification can be selected using the additional information. Additional information can be understood, for example, as information about the volume of traffic on a planned trajectory of the means of transport or about other environmental conditions. As a result, the reliability of the method can be further increased.

This method can be implemented, for example, in software or hardware or in a mixed form of software and hardware, for example in a control unit.

The approach presented here also creates a control device that is designed to carry out, control or implement the steps of a variant of a method presented here in corresponding devices. The object on which the invention is based can also be achieved quickly and efficiently by this embodiment variant of the invention in the form of a control unit.

For this purpose, the control unit can have at least one computing unit for processing signals or data, at least one memory unit for storing signals or data, at least one interface to a sensor or an actuator for reading in sensor signals from the sensor or for outputting control signals to the actuator and/or or have at least one communication interface for reading in or outputting data that are embedded in a communication protocol. The arithmetic unit can be a signal processor, a microcontroller or the like, for example, while the storage unit can be a flash memory, an EPROM or a magnetic storage unit. The communication interface can be designed to read in or output data wirelessly and/or by wire, wherein a communication interface that can read in or output wire-bound data can, for example, read this data electrically or optically from a corresponding data transmission line or can output it to a corresponding data transmission line.

In the present case, a control device can be understood to mean an electrical device that processes sensor signals and outputs control and/or data signals as a function thereof. The control device can have an interface that and/or can be designed in terms of software. In the case of a hardware design, the interfaces can be part of what is known as a system ASIC, for example, which contains a wide variety of functions of the control device. However, it is also possible for the interfaces to be separate integrated circuits or to consist at least partially of discrete components. In the case of a software design, the interfaces can be software modules which are present, for example, on a microcontroller alongside other software modules.

In an advantageous embodiment, the vehicle is controlled by the control unit. For this purpose, the control unit can, for example, access sensor signals such as acceleration, pressure, steering angle or environment sensor signals. The control is carried out via actuators such as brake or steering actuators or an engine control unit of the vehicle.

A computer program product or computer program with program code, which can be stored on a machine-readable carrier or storage medium such as a semiconductor memory, a hard disk memory or an optical memory and for carrying out, implementing and/or controlling the steps of the method according to one of the embodiments described above, is also advantageous used, especially when the program product or program is run on a computer or device.

• 1 eine schematische Darstellung eines Verkehrsmittels mit einem Steuergerät gemäß einem Ausführungsbeispiel;
• 2 eine schematische Darstellung eines Steuergeräts gemäß einem Ausführungsbeispiel;
• 3 ein Blockschaltbild zur Darstellung eines möglichen Ablaufs eines Verfahrens gemäß einem Ausführungsbeispiel; und
• 4 ein Ablaufdiagramm eines Verfahrens gemäß einem Ausführungsbeispiel.

Embodiments of the invention are shown in the drawings and explained in more detail in the following description. It shows:

• 1 a schematic representation of a means of transport with a control device according to an embodiment;
• 2 a schematic representation of a control device according to an embodiment;
• 3 a block diagram to show a possible sequence of a method according to an embodiment; and
• 4 a flowchart of a method according to an embodiment.

In the following description of favorable exemplary embodiments of the present invention, the same or similar reference symbols are used for the elements which are shown in the various figures and have a similar effect, with a repeated description of these elements being dispensed with.

1 shows a schematic representation of an automated means of transport 100 for passenger transport, also called robo-taxi, with a control device 102 according to an exemplary embodiment. Control unit 102 is designed to receive a sensor signal 106, which represents an occupant 108 located in the interior, from an interior sensor 104 for detecting an interior of means of transport 100, here by way of example an interior camera for permanent observation. Using the sensor signal 106, the control unit 102 determines, for example based on a line of sight or a blink of the occupant 108, an attention of the occupant 108 with regard to a traffic situation in the vicinity of the means of transport 100. Depending on the degree of attention of the occupant 108 determined in this way, the control unit 102 then changes a driving behavior of the means of transport 100 in order to offer the occupant 108 the best possible feeling of safety and comfort.

For example, control unit 102 selects a defensive driving behavior that is characterized, for example, by a correspondingly large safety distance or a very early reaction to changes in the flow of traffic when occupant 108 shows increased attention, which, for example, indicates a worried occupant. By selecting such a defensive driving behavior, the occupant 108 can be reassured by immediately feeling or experiencing the reaction of the means of transport 100 to changes in the traffic flow. This can also prevent the occupant 108 from suffering from the typical passenger problem because he cannot correctly assess whether the automated means of transport 100 is actually (and correctly) reacting.

If, on the other hand, the evaluation of the sensor signal 106 shows that the occupant 108 pays only little attention to the traffic situation, then the control unit 102 adapts the driving behavior in the sense of traffic flow optimization. The safety distance to be maintained or the reaction to changes in the flow of traffic is changed, for example, to values that are usual or considered normal. It is thus possible to prevent the occupant 108 from getting a feeling of wasting time and thinking that he can drive better himself and also get to the desired destination more quickly. The inattentive occupant 108 is thus satisfied with the driving behavior of the means of transport 100 and can now devote himself to other activities undisturbed while driving.

Depending on the exemplary embodiment, control unit 102 is designed to determine the driving behavior of means of transport 102 using the sensor signals 106 to further gradations and intermediate states between the two mentioned driving behaviors "defensive" and "traffic flow-optimized". This also occurs, for example, in that control unit 102 uses sensor signal 106 to determine an age of occupant 108 or also a number of occupants and selects the driving behavior with additional consideration of age or the number of occupants.

According to a further exemplary embodiment, control unit 102 is designed to improve driving behavior by additionally evaluating destination information, which, for example, contains an input made by occupant 108 regarding a destination to be traveled to by means of transport 100, in particular also regarding a type of destination or an intention associated with the destination such as such as "work" or "celebration" to select or adjust.

According to the 1 In the exemplary embodiment shown, control unit 102 is equipped with an optional communication interface 110, through which control unit 102 is able to communicate with other road users, an infrastructure device such as a traffic light, or with a central data processing device, for example in the form of a cloud server , such as via C2X or C2I. Possible communication partners for communication with the communication interface 110 are in 1 indicated schematically by a box 112. Via communication interface 110, control unit 102 receives additional information 114, which represents, for example, information about a trajectory planned by means of transport 100, traffic volume or other environmental conditions such as weather conditions, and takes this into account accordingly when selecting the driving behavior of means of transport 100.

According to one embodiment, controller 102 performs the alertness evaluation using appropriate low-pass filtering. It can thus be achieved that not all head movements of the occupant 108 are evaluated. For example, if the occupant 108 observes what is happening on the road and takes a quick look at his smartphone or the like, he is still classified as observing the traffic. Conversely, he is still classified as not observing traffic if, for example, he takes a quick look outside while working on his laptop.

The attention-dependent selection of the driving behavior of the means of transport 100 can be achieved in that the means of transport 100 despite autonomous, i. H. A driving style that is no longer directly controlled by a person takes into account the individual safety and comfort perception of the occupants. This can lead to better acceptance of fully autonomous vehicles in general.

2 FIG. 1 shows a schematic representation of a control device 102 according to an exemplary embodiment. The controller 102 may be the one previously referred to in FIG 1 Act described control unit. Control unit 102 includes a determination unit 210, which is designed to receive sensor signal 106 and to evaluate it to determine a degree of attention 212, which represents the occupant's attention to the traffic situation. For example, determination unit 210 ascertains a high degree of attentiveness if the evaluation reveals that the occupant's line of sight points primarily in the direction of travel of the means of transport. A selection unit 220 is designed to receive the degree of attentiveness 212 from the determination unit 210 and to select a driving behavior specification, which represents the driving behavior to be observed by the means of transport, to evaluate it. As a result of the selection of the driving behavior specification, the selection unit 220 generates, for example, a control signal 222 for controlling a motor or steering or braking actuators of the means of transport in accordance with the selected driving behavior specification.

3 shows a block diagram to show a possible sequence of a method according to an embodiment. The method can, for example, by a control unit, as previously based on the 1 and 2 is described to be executed. In this case, in a block 302, the permanent observation of all occupants of the means of transport takes place. In a block 304, the respective attentiveness of the occupants to the traffic situation is evaluated using the data provided by the permanent observation. If this results in at least one occupant observing the traffic situation, then in a block 306 the “defensive” driving behavior is selected. If, on the other hand, it is found in block 304 that the occupants are not observing what is happening on the road, then in block 308 the “normal” driving behavior is selected. The observation of the occupants in block 302 takes place, for example, continuously during operation of the means of transport.

4 shows a flow chart of a method 400 according to an embodiment. The method 400 for controlling an automated means of transport for passenger transport can, for example, be based on the above 1 until 3 described control unit be led. In a step 410, the degree of attention of the occupants of the means of transport is determined using the sensor signal. In a further step 420, the corresponding selection of the driving behavior specification with regard to the driving style to be adhered to by the means of transport takes place as a function of the degree of attentiveness.

If an embodiment includes an "and/or" link between a first feature and a second feature, this should be read in such a way that the embodiment according to one embodiment includes both the first feature and the second feature and according to a further embodiment either only that having the first feature or only the second feature.

Claims (9)

Method (400) for controlling an automated means of transport (100) for passenger transport, the method (400) comprising the following steps: determining (410) a degree of attention (212) which requires the attention of at least one occupant (108) of the means of transport (100) represented in relation to a traffic situation, using a sensor signal (106) which represents a signal generated by an interior sensor (104) for detecting an interior of the means of transport (100); and selecting (420) a driving behavior specification, which represents a driving behavior to be observed when transporting the occupant (108) from the means of transport (100), using the degree of attention (212). characterized in that the method comprises a step of comparing the degree of attentiveness (212) with a reference degree, wherein in the selecting step (420) a driving behavior specification representing defensive driving behavior is selected if the comparison shows that the degree of attentiveness (212) is greater than the reference degree, and/or a default driving behavior that represents normal driving behavior is selected if the comparison shows that the degree of attentiveness (212) is less than or equal to the reference degree. Method (400) according to one of the preceding claims, in which in the step of determining (410) the degree of attentiveness (212) is determined by filtering the sensor signal (106), in particular by low-pass filtering the sensor signal (106). Method (400) according to one of the preceding claims, in which in the step of selecting (420) at least one parameter relating to a safety distance to be maintained by the means of transport (100) and/or relating to a reaction time of the means of transport (100) to changes in a traffic flow is changed in order to select the driving behavior requirement. Method (400) according to one of the preceding claims, with a step of determining a number and/or an age of the occupant (108) using the sensor signal (106) and/or a user input made by the occupant (108), wherein in step of selecting (420) the driving behavior specification is selected depending on the number and/or the age of the occupants (108). Method (400) according to one of the preceding claims, in which, in the step of selecting (420), the driving behavior specification is selected using destination information which represents a destination to be headed for by the means of transport (100). Method (400) according to one of the preceding claims, with a step of receiving additional information (114) via a communication interface (110) to a further means of transport (112) and/or an infrastructure device (112) and/or a central data processing device (112) , In the step of selecting (420), the driving behavior specification is selected using the additional information (114). Control unit (102) with units (210, 220) which are designed to the method (400) according to one of Claims 1 until 6 execute and/or control. Computer program designed to implement the method (400) according to one of Claims 1 until 6 execute and/or control. Machine-readable storage medium on which the computer program claim 8 is saved.

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